CN106849767A - A kind of joint of robot motor-drive circuit - Google Patents
A kind of joint of robot motor-drive circuit Download PDFInfo
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- CN106849767A CN106849767A CN201710203533.3A CN201710203533A CN106849767A CN 106849767 A CN106849767 A CN 106849767A CN 201710203533 A CN201710203533 A CN 201710203533A CN 106849767 A CN106849767 A CN 106849767A
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- module
- master cpu
- cpu module
- joint
- detection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention proposes a kind of joint of robot motor-drive circuit, including master cpu module, and the master cpu module is connected with power module, and the power module starts the errorless rear pure stable DC voltage of output of detection；The master cpu module is connected with driving power module, and the driving power module controls brushless electric machine and record storage motor job information according to the instruction of master cpu module；The master cpu module is connected with detection feedback and protection module, and the detection feedback protection module is used to detect total system working condition, and is indicated in exception；The master cpu module is connected with communication module, the communication module connects host computer, the present invention can be directed to brushless electric machine, realize more preferable breathing crack, and each master cpu module is treated as into a node, the networking control of multiple joint motors is realized, and no longer needs to use special driver.
Description
Technical field
The invention belongs to intelligent robot control technology field, more particularly to a kind of joint of robot motor-drive circuit.
Background technology
At present, a kind of special drive scheme of joint of robot motor is had no, small-sized steering wheel is generally have brush drag cup electricity
Machine, but, the construction of brush motor causes the efficiency of its work relatively low, and cannot accomplish rotating speed high pulling torque high, secondly, there is brush electricity
Machine service life is partially short, it is impossible to accomplish non-maintaining, and again, the rotary inertia of brush motor is bigger than normal, and voltage/rotating speed is linearly bad,
It is bad to closed loops such as its speed controls.
Therefore, need a kind of joint of robot motor-drive circuit badly now, brushless electric machine can be directed to, realization is preferably opened
Closed-loop control, and each master cpu module is treated as into a node, the networking control of multiple joint motors is realized, and not
Special driver is needed to use again.
The content of the invention
The present invention proposes a kind of joint of robot motor-drive circuit, solves the rotation of joint of robot in the prior art
Inertia is bigger than normal, and voltage/rotating speed is linearly poor, the bad problem of the closed loop such as speed control.
The technical proposal of the invention is realized in this way：Joint of robot motor-drive circuit, including master cpu module,
The master cpu module is connected with power module, and the power module starts the errorless rear pure stable DC voltage of output of detection；
The master cpu module is connected with driving power module, and the driving power module is controlled according to the instruction of master cpu module
Brushless electric machine and record storage motor job information；The master cpu module is connected with detection feedback and protection module, the inspection
Surveying feedback protection module is used to detect total system working condition, and is indicated in exception；The master cpu module is connected with
Communication module, the communication module connects host computer.
As one kind preferred embodiment, the power module accesses 7.6V-36V ultra-wide DC voltages, and is starting
The pure stable DC voltages of 3.3V and 5V are exported after detection is errorless and power supply indicator is lighted.
As one kind preferred embodiment, the master cpu module after the power-up, is detected through reset → self-inspection → feedback
→ testing result is stored and shown, detects that errorless rear system enters armed state.
As one kind preferred embodiment, shown using LED signal lamp when fault-signal occurs in detection, storage information
Shown by host computer, and ultra low power idle pulley is carried out after armed state exceedes certain hour threshold values.
As one kind preferred embodiment, the driving power module is controlled brushless according to the instruction of master cpu module
Motor and record storage motor job information, including automatically according to order carry out open loop or closed loop to the speed of brushless electric machine, position,
Any one in torque or several priorities/while be controlled, and record storage brushless electric machine job information.
As one kind preferred embodiment, the detection and feedback protection module work simultaneously with master cpu module, when
After master cpu module completes power-on self-test, system full inspection is carried out, after detection is normal, feed back to master cpu module, system is entered
Enter armed state, if detection is abnormal, will store and shown by trouble light.
As one kind preferred embodiment, the system full inspection includes input voltage, metal-oxide-semiconductor temperature, rotor position
Put, reduction gearbox output shaft position is detected.
As one kind preferred embodiment, the Master Communications module realizes steering wheel networking using 2 twisted-pair feeders.
As one kind preferred embodiment, used between master cpu module, between master cpu module and host computer
The MODBUS agreements of RS485 buses are communicated, and using polling mode, complete host computer and master cpu module and master cpu mould
Communication between block.
As one kind preferred embodiment, the communication between master cpu module, between master cpu module and host computer
Tested using CRC.
After employing above-mentioned technical proposal, the beneficial effects of the invention are as follows：The present invention uses the nothing of drive belt hall sensing
Brush motor is power source, and rotating speed high torque is big, and volume small-power is big, maximum up to 600W, makes production in enormous quantities applied robot
Joint motor be possibly realized, the non-maintaining long service life of brushless electric machine, is to provide safeguard in the Zheng Ji robots life-span in addition；
Input voltage is wide, 7.6V-36V, for the moment of torsion of joint motor provides guarantee；
Operating voltage, temperature and the rotating speed of motor can be accurately monitored, for user of service provides conveniently；
Using RS485 bus communications, at most up to 128 nodes, each node has unique address, is that programming personnel sets
Calculating method and program are provided convenience.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
Other accompanying drawings are obtained with according to these accompanying drawings.
Fig. 1 is block diagram of the invention；
Fig. 2 is power module circuitry figure of the invention；
Fig. 3 is the circuit diagram of NN frameworks high-power MOS tube power output of the invention and detection and protection circuit；
Fig. 4 is the circuit diagram of RS485 bus modules；
Fig. 5 is system operation indicating section circuit diagram；
Fig. 6 is the circuit diagram of 485 protection circuits；
The circuit diagram of Fig. 7 a motor driving parts point；
The circuit diagram of Fig. 7 b staring torque setting sections；
The circuit diagram of Fig. 7 c protective current feedback fractions；
Fig. 7 d are the circuit diagram of rotation speed control section point；
Fig. 7 e are the circuit diagram of signal adjustment member.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, robot joint motor drive circuit, including master cpu module, the master cpu module company
Power module is connected to, the power module starts the errorless rear pure stable DC voltage of output of detection；The master cpu module connects
Driving power module is connected to, the driving power module controls brushless electric machine and record storage according to the instruction of master cpu module
Motor job information；The master cpu module is connected with detection feedback and protection module, and the detection feedback protection module is used for
Detection total system working condition, and indicated in exception；The master cpu module is connected with communication module, the communication
Module connects host computer.
In the present embodiment, master cpu module uses 32 single-chip microcomputer STM32F103VET6, due to the work(of single-chip microcomputer
Can realize essentially consisting in program, therefore repeat no more the circuit diagram situation of the single-chip microcomputer.
The power module accesses 7.6V-36V ultra-wide DC voltages, and pure the errorless rear output 3.3V and 5V of detection is started
Net stable DC voltage simultaneously lights power supply indicator, specifically refer to Fig. 2, and power module includes a pressure unit, step-down
Unit iron input by the 11st diode D11 and the 3rd switch S3 connect the 8th power supply terminal J8, pressure unit it is defeated
Enter the GATT and the switch control pin of pressure unit, the output pin and grounding lead of pressure unit are also connected by the 11st electric capacity C11
The 13rd diode D13 is connected between pin, the output pin of pressure unit passes through the second inductance connection L2 and 13 diodes
The positive pole of D13, the positive pole of the 13rd diode D13 connects the grounding pin of pressure unit, and the earth terminal of pressure unit is connected with
The earth terminal of voltage-stablizer, the FE pins of pressure unit by the 23rd electric capacity C23, the 33rd electricity C33 appearance in parallel and
34th electric capacity C34 connects the input of voltage-stablizer, and the output end of voltage-stablizer passes through the 55th resistance R55 and the 12nd
Pole pipe D12 is grounded, and the 21st electric capacity C21 and the 29th electric capacity C29 is parallel between the output and ground of voltage-stablizer.
The master cpu module after the power-up, is stored and shown through reset → self-inspection → feedback detection → testing result, inspection
Survey errorless rear system and enter armed state.
Shown using LED signal lamp when fault-signal occurs in detection, storage information is shown by host computer, and ought treated
Life state carries out ultra low power idle pulley after exceeding certain hour threshold values.
According to the instruction of master cpu module, simultaneously record storage motor works control brushless electric machine the driving power module
Information, including carry out any one in speed, position, the torque of open loop or closed loop to brushless electric machine or several automatically according to order
Successively/while be controlled, and record storage brushless electric machine job information specifically asks Parameter Map 3, using standard three-phase just
The input of string ripple signal special chip, NN framework high-power MOS tube power outputs and detection and protection circuit, driving power module are total to
Three tunnels are counted, because the circuit structure on three tunnels is identical, therefore is taken and is wherein introduced all the way, driving power module includes that one drives core
Piece IR2101, the VCC pin of driving chip connects the C of motor by the 61st diode D61 and the 17th electric capacity C17
Phase, the HO pins of driving chip connect the grid of the 9th metal-oxide-semiconductor by the 49th resistance R49, and the LO pins of driving chip lead to
The grid that the 50th resistance R50 connects the tenth metal-oxide-semiconductor is crossed, the VS pins of driving chip connect the source electrode and the tenth of the 9th metal-oxide-semiconductor
The drain electrode of metal-oxide-semiconductor, other phase connections are identical with C phase connections, repeat no more in addition；Fig. 7 a, 7b, 7c, 7d and 7e are refer to, is also wrapped
Motor driving part point is included, motor driving part point includes that brushless electric machine drives IC, its Z/F pin to pass through the 39th resistance eutral grounding
End, the 25th electric capacity C25 and the 59th resistance R59 earth terminals that its RQD pin passes through parallel connection, by the 25th electric capacity
C25, the 59th resistance R59 and the 41st resistance R41 realize that staring torque sets, and constitute staring torque setting section, its
RQD pins connect supply voltage by the 41st resistance R41, and its IS pin is by the electricity of the 60th resistance R60 and the 69th
Resistance R69 earth terminals, the 69th resistance R69 carries out current sample as sampling resistor, so as to the feedback for playing protective current is made
With, protective current feedback fraction is constituted, its IS pin passes through the 24th electric capacity C24 earth terminals；Also including rotation speed control section point,
Connection brushless electric machine drives the VR pins of IC, including the 61st resistance R61, in parallel with what the 61st resistance R61 was connected
26th electric capacity C26 and the 67th resistance R67, and the tenth diode D10 being connected with the 61st resistance R61, the
The negative pole connection supply voltage of ten diode D10；In order to the control for further making brushless electric machine is more stablized, signal is additionally provided with
Adjustment member, including a signal adjustment circuit OPA2349, its output end connection brushless electric machine drive the VR pins of IC, and pass through
65th resistance R65 and the 66th resistance R66 is grounded, its input pin connection single-chip microcomputer, and connects electricity by V+ pins
Source voltage.
The detection and feedback protection module work simultaneously with master cpu module, when master cpu module completes power-on self-test
Afterwards, system full inspection is carried out, after detection is normal, master cpu module is fed back to, system enters armed state, if detection is abnormal,
To store and be shown by trouble light, refer to Fig. 5, system operation indicating section circuit diagram, using red and green indicating lamp
Indicated, alarmed using red light, it is in running order using green light instruction, and each indicator lamp passes through the 5th respectively
16 resistance R56 and the 57th resistance R57 connection supply voltages.
The system full inspection includes input voltage, metal-oxide-semiconductor temperature, motor rotor position, the detection of reduction gearbox output shaft position.
The Master Communications module realizes steering wheel networking using 2 twisted-pair feeders.
Using the MODBUS agreements of RS485 bus modules between master cpu module, between master cpu module and host computer
Communicated, using polling mode, completed host computer and the communication between master cpu module and master cpu module, specifically,
Refer to Fig. 4, RS485 bus modules include a MAX485 interface chips, DE the and RE pins of MAX485 interface chips are by the
46 resistance R46 connect supply voltage, and DE and RE pins are connected by the first triode D1 and the 47th resistance R47
Three-hole socket, and master cpu module is connected by Three-hole socket, the first triode D1 further, refer to Fig. 6, RS485
Bus module is additionally provided with 485 protection circuits, including one or two pin 485 input terminals, two contact pins are respectively by the 5th insurance
Silk F5 and the 6th fuse F6 connects the two ends of the 16th IGCT Q16, and the two ends connection MAX485 of the 16th IGCT Q16 connects
Mouth chip.
Communication between master cpu module, between master cpu module and host computer is examined using CRC
Test, can farthest overcome electromagnetic interference, it is ensured that data communication reliability.
The operation principle of the joint of robot motor-drive circuit is：The present invention uses the brushless electricity of drive belt hall sensing
Machine is power source, and rotating speed high torque is big, and volume small-power is big, maximum up to 600W, makes the pass of production in enormous quantities applied robot
Section motor is possibly realized, and the non-maintaining long service life of brushless electric machine, is to provide safeguard in the Zheng Ji robots life-span in addition；Input voltage
Width, 7.6V-36V, for the moment of torsion of joint motor provides guarantee；Operating voltage, temperature and the rotating speed of motor can be accurately monitored, is
User of service provides convenient；Using RS485 bus communications, at most up to 128 nodes, each node has unique address,
It is that programming personnel's algorithm for design and program are provided convenience.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. a kind of joint of robot motor-drive circuit, it is characterised in that including master cpu module, the master cpu module connects
Power module is connected to, the power module starts the errorless rear pure stable DC voltage of output of detection；The master cpu module connects
Driving power module is connected to, the driving power module controls brushless electric machine and record storage according to the instruction of master cpu module
Motor job information；The master cpu module is connected with detection feedback and protection module, and the detection feedback protection module is used for
Detection total system working condition, and indicated in exception；The master cpu module is connected with communication module, the communication
Module connects host computer.
2. joint of robot motor-drive circuit according to claim 1, it is characterised in that the power module is accessed
7.6V-36V ultra-wide DC voltages, and detect the errorless rear output pure stable DC voltages of 3.3V and 5V and refer to power supply starting
Show that lamp is lighted.
3. joint of robot motor-drive circuit according to claim 2, it is characterised in that the master cpu module exists
After upper electricity, store and show through reset → self-inspection → feedback detection → testing result, detect that errorless rear system enters armed state.
4. joint of robot motor-drive circuit according to claim 3, it is characterised in that when fault-signal occurs in detection
Shi Liyong LED signal lamps show that storage information is shown by host computer, and when armed state is laggard more than certain hour threshold values
Row ultra low power idle pulley.
5. joint of robot motor-drive circuit according to claim 4, it is characterised in that the driving power module root
According to the instruction of master cpu module, brushless electric machine and record storage motor job information are controlled, including open loop is carried out automatically according to order
Or closed loop is to any one in speed, position, the torque of brushless electric machine or several priorities/while be controlled, and record is deposited
Storage brushless electric machine job information.
6. joint of robot motor-drive circuit according to claim 5, it is characterised in that the detection and feedback protection
Module works simultaneously with master cpu module, after master cpu module completes power-on self-test, carries out system full inspection, when detection is normal
Afterwards, master cpu module is fed back to, system enters armed state, if detection is abnormal, will stores and shown by trouble light.
7. joint of robot motor-drive circuit according to claim 6, it is characterised in that the system full inspection includes defeated
Enter voltage, metal-oxide-semiconductor temperature, motor rotor position, the detection of reduction gearbox output shaft position.
8. joint of robot motor-drive circuit according to claim 7, it is characterised in that the Master Communications module is adopted
Steering wheel networking is realized with 2 twisted-pair feeders.
9. joint of robot motor-drive circuit according to claim 8, it is characterised in that between master cpu module, main
MODBUS agreements between control CPU module and host computer using RS485 buses are communicated, and using polling mode, are completed upper
Communication between machine and master cpu module and master cpu module.
10. joint of robot motor-drive circuit according to claim 9, it is characterised in that between master cpu module,
Communication between master cpu module and host computer is tested using CRC.
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| CN201710203533.3A CN106849767A (en) | 2017-03-30 | 2017-03-30 | A kind of joint of robot motor-drive circuit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710203533.3A CN106849767A (en) | 2017-03-30 | 2017-03-30 | A kind of joint of robot motor-drive circuit |
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| CN201710203533.3A Pending CN106849767A (en) | 2017-03-30 | 2017-03-30 | A kind of joint of robot motor-drive circuit |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108933549A (en) * | 2018-06-14 | 2018-12-04 | 广东大仓机器人科技有限公司 | A kind of robot brushless motor driver module |
| CN109038478A (en) * | 2018-10-11 | 2018-12-18 | 苏州峰极电磁科技有限公司 | Intelligent things internet switch controller |
| CN111707842A (en) * | 2020-06-28 | 2020-09-25 | 中车大连机车车辆有限公司 | Frequency signal generation method based on RS485 serial port and rotating speed system test method |
| CN113037083A (en) * | 2021-03-11 | 2021-06-25 | 北华航天工业学院 | Hemisphere dynamic pressure motor three-phase square wave power driving device |
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| CN108933549A (en) * | 2018-06-14 | 2018-12-04 | 广东大仓机器人科技有限公司 | A kind of robot brushless motor driver module |
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| CN111707842A (en) * | 2020-06-28 | 2020-09-25 | 中车大连机车车辆有限公司 | Frequency signal generation method based on RS485 serial port and rotating speed system test method |
| CN113037083A (en) * | 2021-03-11 | 2021-06-25 | 北华航天工业学院 | Hemisphere dynamic pressure motor three-phase square wave power driving device |
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Application publication date: 20170613 |